#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "urg_laser_tf_publisher");
  ros::NodeHandle n;

  ros::Rate r(50);

  tf::TransformBroadcaster broadcaster;

  while(n.ok()){
    broadcaster.sendTransform(
      tf::StampedTransform(
        //tf::Transform(tf::Quaternion(0, 4.71, 0), tf::Vector3(0.28, 0.02, 0.25)),
        tf::Transform(tf::Quaternion(-0.019, 4.6, 0), tf::Vector3(0.28, 0.02, 0.28)),
        ros::Time::now(),"base_link", "urg_laser"));
    r.sleep();
  }
}
